基于功能材料的柔性多关节水下仿鱼形推进器设计及分析

Design and Analysis of Flexible Multi-joint Underwater Pisciform Propulsion System Using Smart Material

分析了当前的智能材料用于仿鱼类肌肉组织的可行性.设计了四关节柔性水下仿鱼形推进器,给出了控制流程图,建立了运动学方程.深入地分析了仿鱼形推进器存在的游动不稳现象及其产生原因,并给出几种提高稳定性的方案.分别测试了迎水面形状对称与否、有无附加鳍以及附加鳍位置对稳定性的影响.最后,通过比较实验证明了此方案对提高柔性多关节水下仿鱼形推进器的游动稳定性是可行的.

This paper analyzes the feasibility of applying several smart materials to bionic fish muscle. A four-joint flexible underwater pisciform propulsion system is developed and the control flow chart is presented. Then a kinematics equation is set up, and a deep analysis on unsteady swimming phenomenon of the propulsion system as well as the cause of this unsteadiness are given. Meanwhile, several ways are proposed to improve stability. Tests are made to verify whether the symmetrical leading surface and the additional fin as well as the location of the fin base have any influence on stability of the system. Finally, comparative experiments prove that this design is feasible for improving swimming stability of flexible multijoint underwater pisciform propulsion system.